US20170164599A1 - Spraying device and boom damping device - Google Patents
Spraying device and boom damping device Download PDFInfo
- Publication number
- US20170164599A1 US20170164599A1 US15/118,109 US201415118109A US2017164599A1 US 20170164599 A1 US20170164599 A1 US 20170164599A1 US 201415118109 A US201415118109 A US 201415118109A US 2017164599 A1 US2017164599 A1 US 2017164599A1
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- United States
- Prior art keywords
- boom
- shut
- passage
- working vehicle
- valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0053—Mounting of the spraybooms
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
Definitions
- the present invention relates to a spraying device and a boom damping device.
- JP2005-13935A discloses a boom sprayer for spraying a control liquid (agricultural chemicals).
- This boom sprayer includes a boom supporting member provided on a front part of a working vehicle and right and left booms supported by the boom supporting member in a cantilever manner and extending in a right-and-left direction of a vehicle body.
- the boom supporting member is rotatable in a rolling direction of the vehicle body, and the boom sprayer controls a rolling attitude of the boom which is an inclination attitude to right and left by a horizontal cylinder.
- An object of the present invention is to provide a spraying device and a boom damping device capable of preventing contact of the boom with the ground when the right and left weight balance of the boom is lost.
- a boom damping device for suppressing vibration of a boom capable of rotational movement in a roll direction of a working vehicle, the boom having a right boom expanded in a right direction of the working vehicle and a left boom expanded in a left direction of the working vehicle is provided.
- the boom damping device includes: a fluid pressure cylinder connected between the working vehicle and the boom, the fluid pressure cylinder being configured to perform an expansion/contraction operation in conjunction with rotational movement of the boom in the roll direction of the working vehicle; a first pressure accumulator configured to pressurize one chamber of the fluid pressure cylinder and into/out of which an operating fluid flows through a first passage with the expansion/contraction operation of the fluid pressure cylinder; a second pressure accumulator configured to pressurize the other chamber of the fluid pressure cylinder and into/out of which the operating fluid flows through a second passage with the expansion/contraction operation of the fluid pressure cylinder; and a shut-off switch configured to shut off the first passage and configured to shut off the second passage if at least either one of the right boom and the left boom is not at a working position expanded in a right-and-left direction of the working vehicle.
- FIG. 1 is a plan view of a working vehicle on which a spraying device according to an embodiment of the present invention is mounted.
- FIG. 2 is a side view of the working vehicle on which the spraying device according to the embodiment of the present invention is mounted.
- FIG. 3 is a perspective view of the spraying device according to the embodiment of the present invention.
- FIG. 4 is a configuration diagram of a boom damping device according to the embodiment of the present invention.
- FIG. 5A is an enlarged view illustrating a connection spot between a roll base and a left boom in an enlarged manner.
- FIG. 5B is an enlarged view illustrating a connection spot between the roll base and the left boom in an enlarged manner.
- the X-axis is an axis extending in a longitudinal direction of a vehicle (substantially horizontally vertical direction)
- the Y-axis is an axis extending in a right-and-left direction of the vehicle (substantially horizontally lateral direction)
- the Z-axis is an axis extending in an up-and-down direction of the vehicle (substantially vertical direction).
- a rotating direction around the X-axis is referred to as a roll direction
- a rotating direction around the Z-axis is referred to as a yaw direction.
- FIG. 1 is a plan view of a working vehicle 1 on which a spraying device 100 in this embodiment is mounted.
- FIG. 2 is a side view of the working vehicle 1 on which the spraying device 100 in this embodiment is mounted and illustrates a state in which the working vehicle 1 in FIG. 1 is seen from the Y-axis direction.
- FIG. 3 is a perspective view of the spraying device 100 mounted on the working vehicle 1 .
- the spraying device 100 is an agricultural device mounted on a front side of the working vehicle 1 such as a tractor running on a farm field and spraying a control liquid (agricultural chemicals) from the working vehicle 1 .
- the spraying device 100 includes a link arm 2 mounted on a front of the working vehicle 1 , an elevation cylinder 3 for elevating the link arm 2 up/down, an elevation base 4 supported by the link arm 2 , capable of elevation up/down with respect to the working vehicle 1 , a roll base 5 supported rotatably in the roll direction with respect to the elevation base 4 , and a boom 6 extending in the right-and-left direction (Y-axis direction) of the working vehicle 1 from the roll base 5 .
- the link arm 2 is a link mechanism composed of an upper link 21 and a lower link 22 provided in a pair on right and left of the working vehicle 1 .
- the upper link 21 and the lower link 22 extend in parallel with each other and are arranged so as to be a parallelogram when seen from a side face ( FIG. 2 ).
- the upper link 21 has a base end portion connected rotatably to the working vehicle 1 through a pin 23 and a tip end portion rotatably connected to the elevation base 4 through a pin 24 .
- the lower link 22 has a base end portion connected rotatably to the working vehicle 1 through a pin 25 and a tip end portion connected rotatably to the elevation base 4 through a pin 26 .
- the link arm 2 supports the elevation base 4 capable of elevation up/down but instead of this, by providing a guide rail extending in the Z-axis direction on the front part of the working vehicle 1 , the elevation base 4 may be supported capable of elevation up/down by this guide rail.
- the elevation cylinders 3 are provided in a pair on right and left of the working vehicle 1 . Each of the elevation cylinders 3 is interposed between the working vehicle 1 and the upper link 21 and is expanded/contracted in accordance with supply/discharge of working oil.
- the link arm 2 When the elevation cylinder 3 is extended, the link arm 2 is rotationally moved upward, and the elevation base 4 and the boom 6 are raised.
- the elevation cylinder 3 When the elevation cylinder 3 is contracted, the link arm 2 is rotationally moved downward, and the elevation base 4 and the boom 6 are lowered.
- the elevation base 4 is connected to tip ends of the upper link 21 and the lower link 22 through the pins 24 and 26 and is moved in a vertical direction in accordance with rising and lowering of the link arm 2 .
- the roll base 5 is provided in front of the elevation base 4 and is supported rotatably on the elevation base 4 through a support shaft 51 ( FIG. 3 ).
- the roll base 5 is rotatable in the roll direction with respect to the elevation base 4 around the support shaft 51 and constitutes a center boom supporting left and right booms 61 and 62 .
- the support shaft 51 is a columnar pin but this is not limiting and a spherical bearing or the like may be used.
- the boom 6 has a right boom 61 that can be expanded to a right direction of the working vehicle 1 and a left boom 62 that can be expanded to a left direction of the working vehicle 1 .
- the right boom 61 and the left boom 62 are supported on the roll base 5 in the cantilever manner, respectively. That is, the right boom 61 and the left boom 62 have their respective base end portions supported on the roll base 5 rotatably in the yaw direction around a rotating shaft in the cantilever manner, and tip end portions are free ends.
- the rotating shaft will be described later.
- the right boom 61 has a base-end side frame 61 A having a base end portion and a tip-end side frame 61 B supported on a tip end side of the base-end side frame 61 A, capable of expansion/contraction, and having a tip end portion.
- the left boom 62 has a base-end side frame 62 A having a base end portion and a tip-end side frame 62 B supported on a tip end side of the base-end side frame 62 A, capable of expansion/contraction, and having a tip end portion ( FIG. 1 ).
- a nozzle (not shown) for spraying the control liquid is mounted on the boom 6 .
- the control liquid is sprayed from the nozzle of the boom 6 of the spraying device 100 while the working vehicle 1 is running on the farm field.
- the right boom 61 and the left boom 62 extend in the right-and-left direction of the working vehicle 1 when in the expanded state illustrated in FIG. 1 . If they are in this expanded state, this is assumed that the boom 6 is at a working position.
- the tip-end side frames 61 B and 62 B are made to slide to sides of the base-end side frames 61 A and 62 A so as to contract the boom 6 and then, the boom 6 is rotationally moved rearward around the rotating shaft. As a result, the boom 6 is folded so as to extend in a longitudinal direction along the side of the working vehicle 1 .
- the spraying device 100 further includes a boom damping device 7 provided between the elevation base 4 and the roll base 5 and suppressing vibration of the boom 6 in the roll direction.
- FIG. 4 is a configuration diagram of the boom damping device 7 in this embodiment.
- a right rotating direction around the X-axis when the working vehicle 1 is seen from an operator is referred to as a right roll direction and a left rotating direction as a left roll direction.
- the boom damping device 7 includes a single hydraulic cylinder 71 expanded/contracted in conjunction with rotational movement of the boom 6 in the right and left roll directions.
- the hydraulic cylinder 71 as a fluid pressure cylinder has a cylinder tube 72 in which the operating oil is sealed and a piston rod 74 connected to both ends of a piston 73 slidably inserted into the cylinder tube 72 .
- An inside of the cylinder tube 72 is divided by the piston 73 into a first chamber 75 as one chamber arranged in an upper part and a second chamber 76 as the other chamber arranged in a lower part.
- the hydraulic cylinder 71 uses the operating oil as an operating fluid but may use an operating liquid such as a water-soluble substitute liquid or the like, for example, instead of the operating oil or may use a gas.
- the cylinder tube 72 is rotatably connected to the elevation base 4 .
- a lower end portion of the piston rod 74 is rotatably connected to the roll base 5 . That is, the cylinder tube 72 is connected to the working vehicle 1 through the elevation base 4 , and the piston rod 74 is connected to the boom 6 through the roll base 5 .
- the hydraulic cylinder 71 is expanded/contracted.
- a constitution is not limited to that described above but may be such that an upper end portion of the piston rod 74 is connected to the working vehicle 1 through the elevation base 4 , and the cylinder tube 72 is connected to the boom 6 through the roll base 5 .
- the boom damping device 7 further includes a first accumulator 77 as a first pressure accumulator for pressurizing the first chamber 75 of the hydraulic cylinder 71 , a second accumulator 78 as a second pressure accumulator for pressurizing the second chamber 76 of the hydraulic cylinder 71 , a first passage 79 for connecting the first accumulator 77 and the first chamber 75 , a second passage 80 for connecting the second accumulator 78 and the second chamber 76 , a first damping valve 81 for giving resistance to a flow of the operating oil passing through the first passage 79 , and a second damping valve 82 for giving resistance to the flow of the operating oil passing through the second passage 80 .
- the first accumulator 77 has an oil chamber 77 A communicating with the first passage 79 and a pressure accumulation chamber 77 B for accumulating a compressed gas for pressurizing the oil chamber 77 A.
- the second accumulator 78 has an oil chamber 78 A communicating with the second passage 80 and a pressure accumulation chamber 78 B for accumulating a compressed gas for pressurizing the oil chamber 78 A.
- the operating oil in the same volume is supplied to/discharged from the first accumulator 77 and the second accumulator 78 .
- a pressure difference is generated between the pressure accumulation chamber 77 B of the first accumulator 77 and the pressure accumulation chamber 78 B of the second accumulator 78 .
- the boom 6 is held at a position where an urging force urged in the right roll direction by a gas pressure of the first accumulator 77 is balanced with the urging force urged in the left roll direction by the gas pressure of the second accumulator 78 .
- the hydraulic cylinder 71 is a double rod type in which the piston rod 74 protrudes from both ends of the cylinder tube 72 .
- the first damping valve 81 gives resistance to the operating oil passing through the first passage 79 with expansion/contraction of the hydraulic cylinder 71 , whereby a damping force for suppressing vibration of the boom 6 in the roll direction is generated.
- the second damping valve 82 gives resistance to the operating oil passing through the second passage 80 with expansion/contraction of the hydraulic cylinder 71 , whereby a damping force for suppressing vibration of the boom 6 in the roll direction is generated.
- first damping valve 81 and the second damping valve 82 function as roll dampers for suppressing vibration of the boom 6 in the roll direction.
- the first damping valve 81 and the second damping valve 82 may be fixed apertures or may be variable apertures whose opening areas increase in accordance with an increase in a flow velocity of the passing operating oil.
- a fixed aperture such as an orifice may be interposed and constituted so that its aperture channel area or aperture channel length can be manually adjusted.
- the boom damping device 7 further includes a first shut-off valve 83 as a shut-off switch interposed in the first passage 79 , a second shut-off valve 84 as a shut-off switch interposed in the second passage 80 , a right-boom sensor 85 as a right-boom detector for detecting an extended state of the right boom 61 , a left-boom sensor 86 as a left-boom detector for detecting an extended state of the left boom 62 , and a controller 87 as a control part for controlling the first shut-off valve 83 and the second shut-off valve 84 .
- the first shut-off valve 83 is a shut-off valve capable of being switched between a communication position where the first passage 79 is allowed to communicate and a shut-off position where the first passage 79 is shut off. At the shut-off position, the first passage 79 is not completely closed, but only the flow of the operating oil from the first accumulator 77 toward the first chamber 75 is allowed.
- the second shut-off valve 84 is a shut-off valve capable of being switched between a communication position where the second passage 80 is allowed to communicate and a shut-off position where the second passage 80 is shut off. At the shut-off position, only the flow of the operating oil from the second accumulator 78 toward the second chamber 76 is allowed.
- the first shut-off valve 83 and the second shut-off valve 84 are held at the shut-off positions by the urging forces of springs 83 A and 84 A and are switched to the communication positions when solenoids 83 B and 84 B are excited on the basis of a driving signal supplied from the controller 87 .
- the first shut-off valve 83 and the second shut-off valve 84 are subjected to switching control in conjunction so that the both are switched to the same switching position. Therefore, when the first shut-off valve 83 and the second shut-off valve 84 are switched to the shut-off positions, the operating oil in the first chamber 75 and the second chamber 76 cannot flow either to the first accumulator 77 or the second accumulator 78 and thus, the first passage 79 is substantially shut off, and the second passage 80 is substantially shut off.
- the right-boom sensor 85 detects whether or not the right boom 61 has been extended to be arranged on an extension of the roll base 5 and is located at a working position extending in the right-and-left direction of the working vehicle 1 and transmits a detection result to the controller 87 . Even if the tip-end side frame 61 B is made to slide to the base-end side frame 61 A side so as to contract the right boom 61 , if the right boom 61 extends in the right-and-left direction of the working vehicle 1 , it is detected that the right boom 61 is at the working position.
- the left-boom sensor 86 detects whether or not the left boom 62 has been extended to be arranged on an extension of the roll base 5 and is located at a working position extending in the right-and-left direction of the working vehicle 1 and transmits a detection result to the controller 87 . Even if the tip-end side frame 62 B is made to slide to the base-end side frame 62 A side so as to contract the left boom 62 , if the left boom 62 extends in the right-and-left direction of the working vehicle 1 , it is detected that the left boom 62 is at the working position.
- FIGS. 5A and 5B are enlarged views illustrating a connection spot between the roll base 5 and the left boom 62 in an enlarged manner.
- a pin 63 as the aforementioned rotating shaft pivotally and rotatably supporting the left boom 62 , a roll-base side bracket 52 extending to the front from the roll base 5 , a substantially L-shaped boom-side bracket 64 with one end side pivotally supported by the pin 63 together with the left boom 62 , a hydraulic cylinder 65 connected between the roll-base side bracket 52 and the boom-side bracket 64 , a spring 66 connected between the other end side of the boom-side bracket 64 and the left boom 62 , and the left-boom sensor 86 extending to the front from the vicinity of the pin 63 of the roll-base 5 are provided. Expansion/contraction of the hydraulic cylinder 65 is performed in accordance with a lever operation by the operator or the like.
- FIG. 5A illustrates a state in which the left boom 62 is folded so as to extend in a longitudinal direction along the side of the working vehicle 1 .
- the boom-side bracket 64 is rotationally moved clockwise in FIG. 5A around the pin 63 .
- the left boom 62 is pressed by the boom-side bracket 64 through the spring 66 and is rotationally moved.
- FIG. 5B illustrates a state in which the left boom 62 is extended so as to extend in a right-and-left horizontal direction of the working vehicle 1 .
- the left boom 62 is extended to the working position by expansion of the hydraulic cylinder 65 , the one end side of the boom-side bracket 64 from the pin 63 is brought into contact with the left-boom sensor 86 .
- the left-boom sensor 86 is turned ON, and a detection signal is transmitted to the controller 87 .
- the spring 66 is interposed between the boom-side bracket 64 and the left boom 62 , even if the left boom 62 touches an obstacle during working in a state in which the left boom 62 is completely extended, an impact can be absorbed by contraction of the spring 66 .
- the left-boom sensor 86 has been described above, and since the same applies to the right-boom sensor 85 , the explanation will be omitted.
- the controller 87 subjects the first shut-off valve 83 and the second shut-off valve 84 to switching control on the basis of the detection signals of the right-boom sensor 85 and the left-boom sensor 86 . If at least either one of the right-boom sensor 85 and the left-boom sensor 86 is in the OFF state, the controller 87 switches the first shut-off valve 83 and the second shut-off valve 84 to the shut-off position, and only if the right-boom sensors 85 and the left-boom sensor 86 are both in the ON state, the controller 87 switches the first shut-off valve 83 and the second shut-off valve 84 to the communication position.
- the first shut-off valve 83 and the second shut-off valve 84 are switched to the communication position and thus, the first damping valve 81 and the second damping valve 82 give resistance to the flow of the operating oil in the first passage 79 and the second passage 80 , whereby vibration of the boom 6 in the roll direction is suppressed.
- the boom damping device 7 further includes an operating-oil supply/discharge mechanism 90 for supplying/discharging the operating oil to/from the hydraulic cylinder 71 .
- the operating-oil supplying/discharging mechanism 90 expands/contracts the hydraulic cylinder 71 by supplying/discharging the operating oil to/from the hydraulic cylinder 71 and adjusts a roll angle of the boom 6 so that the boom 6 is held in the horizontal direction. If the working vehicle 1 is inclined on an inclined land or the like, the operating-oil supplying/discharging mechanism 90 adjusts the roll angle of the boom 6 so that the boom 6 is held not horizontally but at a desired angle along the inclination.
- the operating-oil supplying/discharging mechanism 90 includes a supply/discharge passage 91 communicating with the first chamber 75 of the hydraulic cylinder 71 , an operate check valve 92 interposed in the supply/discharge passage 91 , and a directional switching valve 94 for switching communication of a hydraulic pump 93 and a tank T with respect to the supply/discharge passage 91 .
- a supply passage 95 for leading the operating oil discharged from the hydraulic pump 93 , a discharge passage 96 for returning the operating oil to the tank T, an operate passage 97 communicating with a pilot pressure chamber of the operate check valve 92 , and the supply/discharge passage 91 communicating with the first chamber 75 are connected.
- a relief passage 98 connecting the supply passage 95 and the discharge passage 96 a relief valve 99 for opening the valve when a hydraulic pressure of the supply passage 95 exceeds a set pressure is provided.
- the directional switching valve 94 has a left roll position A, a right roll position B, and a neutral position C and is switched to any one of the positions so that the boom 6 is held horizontally or at the desired angle along inclination of the farm field.
- the controller 87 drives a solenoid of the directional switching valve 94 so that the boom 6 is held at the desired angle on the basis of an operation instruction of the operator.
- the boom 6 is rotationally moved in the right and left roll directions, and the roll angle of the boom 6 is adjusted, whereby the boom 6 can be held at the desired angle at all times regardless of an attitude change of the working vehicle 1 .
- the operating-oil supplying/discharging mechanism 90 is not limited to the constitution in which the operating oil is supplied/discharged with respect to the first chamber 75 of the hydraulic cylinder 71 so as to rotationally move the boom 6 in the roll direction but may be constituted such that the operating oil is supplied/discharged with respect to the second chamber 76 so as to rotationally move the boom 6 in the roll direction.
- the working vehicle 1 sprays the control liquid from the nozzle of the boom 6 in the spraying device 100 , while running on a farm field in the work.
- the left and right booms 61 and 62 are centered at the positions where the gas pressures of the pressure accumulation chambers 77 B and 78 B of the first accumulator 77 and the second accumulator 78 are balanced in accordance with a stroke of the hydraulic cylinder 71 .
- a force to rotationally move the boom 6 in the roll direction acts on the roll base 5 through the hydraulic cylinder 71 .
- the hydraulic cylinder 71 is expanded/contracted by the inertia force of the boom 6 and absorbs inclination of the working vehicle 1 .
- the hydraulic cylinder 71 cannot fully absorb the inclination of the working vehicle 1 and if a force caused by the gas pressure difference between the pressure accumulation chambers 77 B and 78 B of the first accumulator 77 and the second accumulator 78 exceeds the inertia force of the boom 6 , the boom 6 begins to roll. However, the roll vibration is rapidly damped by the first damping valve 81 and the second damping valve 82 . In this way, since the change in the force acting on the roll base 5 from the working vehicle 1 is absorbed by expansion/contraction of the hydraulic cylinder 71 , large rotational movement of the boom 6 in the roll direction is suppressed, and collision of the tip end portion of the boom 6 against the farm field or the like is prevented.
- the first damping valve 81 and the second damping valve 82 give resistance to the flow of the operating oil flowing into/out of the first accumulator 77 and the second accumulator 78 and thus, vibration of the boom 6 in the roll direction can be suppressed. As a result, the control liquid injected from the nozzle of the boom 6 can be uniformly sprayed.
- the first passage 79 is shut off, and the second passage 80 is also shut off and thus, an expansion/contraction operation of the hydraulic cylinder 71 can be stopped.
- rotational movement of the boom 6 can be braked, and thus, lowering of the extended boom 6 and contact thereof with the ground can be prevented.
- the first shut-off valve 83 and the second shut-off valve 84 are switched to the shut-off positions.
- the right-boom sensor 85 detects that the right boom 61 is at the working position
- the left-boom sensor 86 detects that the left boom 62 is at the working position.
- first shut-off valve 83 and the second shut-off valve 84 are shut-off valves capable of being switched between the communication position where the first passage 79 and the second passage 80 are allowed to communicate and the shut-off position where the first passage 79 is shut off, and the second passage 80 is also shut off, and the controller 87 subjects the first shut-off valve 83 and the second shut-off valve 84 to switching control on the basis of the detection signals from the right-boom sensor 85 and the left-boom sensor 86 .
- the electromagnetic directional switching valve 94 is exemplified, but a mechanical directional switching valve whose position is switched on the basis of the lever operation of the operator may be used.
- a switch capable of performing a turning ON/OFF operation of a roll damper is provided and if the operator performs an ON operation on the switch, the first shut-off valve 83 and the second shut-off valve 84 are switched to the communication positions.
- the switch is subjected to the ON operation and if both the right-boom sensor 85 and the left-boom sensor 86 are in the ON state, it is only necessary that the controller 87 switches the first shut-off valve 83 and the second shut-off valve 84 to the communication positions.
- a touch sensor is exemplified as the right-boom sensor 85 and the left-boom sensor 86 , but other proximity sensor, angle sensor, stroke sensor and the like may be also used.
- the boom-side bracket 64 has a substantially L-shape and is arranged so as to be brought into contact with the right-boom sensor 85 and the left-boom sensor 86 when the right boom 61 and the left boom 62 are extended in the right-and-left horizontal direction of the working vehicle 1 , but by changing the shape or a bending angle of the boom-side bracket 64 , a position where the boom-side bracket 64 touches the right-boom sensor 85 and the left-boom sensor 86 (to be brought into the ON state) can be changed.
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Abstract
A boom damping device includes a fluid pressure cylinder configured to perform an expansion/contraction operation in conjunction with rotational movement of a boom in a roll direction of a working vehicle, a first pressure accumulator into/out of which an operating fluid flows through a first passage with the expansion/contraction operation of the fluid pressure cylinder, a second pressure accumulator into/out of which the operating fluid flows through a second passage with the expansion/contraction operation of the fluid pressure cylinder, and a shut-off switch configured to shut off the first passage and configured to shut off the second passage if at least either one of a right boom and a left boom is not at a working position expanded in a right-and-left direction of the working vehicle.
Description
- The present invention relates to a spraying device and a boom damping device.
- JP2005-13935A discloses a boom sprayer for spraying a control liquid (agricultural chemicals). This boom sprayer includes a boom supporting member provided on a front part of a working vehicle and right and left booms supported by the boom supporting member in a cantilever manner and extending in a right-and-left direction of a vehicle body. Moreover, the boom supporting member is rotatable in a rolling direction of the vehicle body, and the boom sprayer controls a rolling attitude of the boom which is an inclination attitude to right and left by a horizontal cylinder.
- In the aforementioned boom sprayer, since the right and left booms are supported by the boom supporting member in the cantilever manner, if only one of the booms is folded, the boom supporting member is rotationally moved in the rolling direction of the vehicle body by a weight of the other boom. If the boom supporting member is rotationally moved, it is likely that a tip end of the other boom lowers and touches the ground.
- An object of the present invention is to provide a spraying device and a boom damping device capable of preventing contact of the boom with the ground when the right and left weight balance of the boom is lost.
- According to one aspect of the present invention, a boom damping device for suppressing vibration of a boom capable of rotational movement in a roll direction of a working vehicle, the boom having a right boom expanded in a right direction of the working vehicle and a left boom expanded in a left direction of the working vehicle is provided. The boom damping device includes: a fluid pressure cylinder connected between the working vehicle and the boom, the fluid pressure cylinder being configured to perform an expansion/contraction operation in conjunction with rotational movement of the boom in the roll direction of the working vehicle; a first pressure accumulator configured to pressurize one chamber of the fluid pressure cylinder and into/out of which an operating fluid flows through a first passage with the expansion/contraction operation of the fluid pressure cylinder; a second pressure accumulator configured to pressurize the other chamber of the fluid pressure cylinder and into/out of which the operating fluid flows through a second passage with the expansion/contraction operation of the fluid pressure cylinder; and a shut-off switch configured to shut off the first passage and configured to shut off the second passage if at least either one of the right boom and the left boom is not at a working position expanded in a right-and-left direction of the working vehicle.
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FIG. 1 is a plan view of a working vehicle on which a spraying device according to an embodiment of the present invention is mounted. -
FIG. 2 is a side view of the working vehicle on which the spraying device according to the embodiment of the present invention is mounted. -
FIG. 3 is a perspective view of the spraying device according to the embodiment of the present invention. -
FIG. 4 is a configuration diagram of a boom damping device according to the embodiment of the present invention. -
FIG. 5A is an enlarged view illustrating a connection spot between a roll base and a left boom in an enlarged manner. -
FIG. 5B is an enlarged view illustrating a connection spot between the roll base and the left boom in an enlarged manner. - An embodiment of the present invention will be described below by referring to the attached drawings.
- For convenience of explanation, three axes, that is, X, Y, and Z orthogonal to each other on the attached drawings are set. The X-axis is an axis extending in a longitudinal direction of a vehicle (substantially horizontally vertical direction), the Y-axis is an axis extending in a right-and-left direction of the vehicle (substantially horizontally lateral direction), and the Z-axis is an axis extending in an up-and-down direction of the vehicle (substantially vertical direction). Moreover, a rotating direction around the X-axis is referred to as a roll direction, and a rotating direction around the Z-axis is referred to as a yaw direction.
-
FIG. 1 is a plan view of a workingvehicle 1 on which aspraying device 100 in this embodiment is mounted.FIG. 2 is a side view of theworking vehicle 1 on which thespraying device 100 in this embodiment is mounted and illustrates a state in which theworking vehicle 1 inFIG. 1 is seen from the Y-axis direction.FIG. 3 is a perspective view of thespraying device 100 mounted on theworking vehicle 1. - The
spraying device 100 is an agricultural device mounted on a front side of the workingvehicle 1 such as a tractor running on a farm field and spraying a control liquid (agricultural chemicals) from the workingvehicle 1. - The
spraying device 100 includes alink arm 2 mounted on a front of theworking vehicle 1, anelevation cylinder 3 for elevating thelink arm 2 up/down, anelevation base 4 supported by thelink arm 2, capable of elevation up/down with respect to theworking vehicle 1, aroll base 5 supported rotatably in the roll direction with respect to theelevation base 4, and aboom 6 extending in the right-and-left direction (Y-axis direction) of theworking vehicle 1 from theroll base 5. - The
link arm 2 is a link mechanism composed of anupper link 21 and alower link 22 provided in a pair on right and left of theworking vehicle 1. Theupper link 21 and thelower link 22 extend in parallel with each other and are arranged so as to be a parallelogram when seen from a side face (FIG. 2 ). - The
upper link 21 has a base end portion connected rotatably to the workingvehicle 1 through apin 23 and a tip end portion rotatably connected to theelevation base 4 through apin 24. Thelower link 22 has a base end portion connected rotatably to the workingvehicle 1 through apin 25 and a tip end portion connected rotatably to theelevation base 4 through apin 26. - The
link arm 2 supports theelevation base 4 capable of elevation up/down but instead of this, by providing a guide rail extending in the Z-axis direction on the front part of the workingvehicle 1, theelevation base 4 may be supported capable of elevation up/down by this guide rail. - The
elevation cylinders 3 are provided in a pair on right and left of theworking vehicle 1. Each of theelevation cylinders 3 is interposed between theworking vehicle 1 and theupper link 21 and is expanded/contracted in accordance with supply/discharge of working oil. When theelevation cylinder 3 is extended, thelink arm 2 is rotationally moved upward, and theelevation base 4 and theboom 6 are raised. When theelevation cylinder 3 is contracted, thelink arm 2 is rotationally moved downward, and theelevation base 4 and theboom 6 are lowered. - The
elevation base 4 is connected to tip ends of theupper link 21 and thelower link 22 through thepins link arm 2. - The
roll base 5 is provided in front of theelevation base 4 and is supported rotatably on theelevation base 4 through a support shaft 51 (FIG. 3 ). Theroll base 5 is rotatable in the roll direction with respect to theelevation base 4 around thesupport shaft 51 and constitutes a center boom supporting left andright booms support shaft 51 is a columnar pin but this is not limiting and a spherical bearing or the like may be used. - The
boom 6 has aright boom 61 that can be expanded to a right direction of the workingvehicle 1 and aleft boom 62 that can be expanded to a left direction of theworking vehicle 1. Theright boom 61 and theleft boom 62 are supported on theroll base 5 in the cantilever manner, respectively. That is, theright boom 61 and theleft boom 62 have their respective base end portions supported on theroll base 5 rotatably in the yaw direction around a rotating shaft in the cantilever manner, and tip end portions are free ends. The rotating shaft will be described later. - The
right boom 61 has a base-end side frame 61A having a base end portion and a tip-end side frame 61B supported on a tip end side of the base-end side frame 61A, capable of expansion/contraction, and having a tip end portion. Theleft boom 62 has a base-end side frame 62A having a base end portion and a tip-end side frame 62B supported on a tip end side of the base-end side frame 62A, capable of expansion/contraction, and having a tip end portion (FIG. 1 ). - On the
boom 6, a nozzle (not shown) for spraying the control liquid is mounted. During a work of thespraying device 100, the control liquid is sprayed from the nozzle of theboom 6 of thespraying device 100 while the workingvehicle 1 is running on the farm field. - The
right boom 61 and theleft boom 62 extend in the right-and-left direction of theworking vehicle 1 when in the expanded state illustrated inFIG. 1 . If they are in this expanded state, this is assumed that theboom 6 is at a working position. When theboom 6 is to be stored, the tip-end side frames end side frames boom 6 and then, theboom 6 is rotationally moved rearward around the rotating shaft. As a result, theboom 6 is folded so as to extend in a longitudinal direction along the side of theworking vehicle 1. - The
spraying device 100 further includes aboom damping device 7 provided between theelevation base 4 and theroll base 5 and suppressing vibration of theboom 6 in the roll direction. -
FIG. 4 is a configuration diagram of theboom damping device 7 in this embodiment. In the explanation below, a right rotating direction around the X-axis when theworking vehicle 1 is seen from an operator is referred to as a right roll direction and a left rotating direction as a left roll direction. - The
boom damping device 7 includes a singlehydraulic cylinder 71 expanded/contracted in conjunction with rotational movement of theboom 6 in the right and left roll directions. - The
hydraulic cylinder 71 as a fluid pressure cylinder has acylinder tube 72 in which the operating oil is sealed and apiston rod 74 connected to both ends of apiston 73 slidably inserted into thecylinder tube 72. An inside of thecylinder tube 72 is divided by thepiston 73 into a first chamber 75 as one chamber arranged in an upper part and asecond chamber 76 as the other chamber arranged in a lower part. - The
hydraulic cylinder 71 uses the operating oil as an operating fluid but may use an operating liquid such as a water-soluble substitute liquid or the like, for example, instead of the operating oil or may use a gas. - The
cylinder tube 72 is rotatably connected to theelevation base 4. A lower end portion of thepiston rod 74 is rotatably connected to theroll base 5. That is, thecylinder tube 72 is connected to the workingvehicle 1 through theelevation base 4, and thepiston rod 74 is connected to theboom 6 through theroll base 5. As a result, when theboom 6 is rotationally moved in the roll direction, thehydraulic cylinder 71 is expanded/contracted. - A constitution is not limited to that described above but may be such that an upper end portion of the
piston rod 74 is connected to the workingvehicle 1 through theelevation base 4, and thecylinder tube 72 is connected to theboom 6 through theroll base 5. - The
boom damping device 7 further includes afirst accumulator 77 as a first pressure accumulator for pressurizing the first chamber 75 of thehydraulic cylinder 71, asecond accumulator 78 as a second pressure accumulator for pressurizing thesecond chamber 76 of thehydraulic cylinder 71, afirst passage 79 for connecting thefirst accumulator 77 and the first chamber 75, asecond passage 80 for connecting thesecond accumulator 78 and thesecond chamber 76, a first dampingvalve 81 for giving resistance to a flow of the operating oil passing through thefirst passage 79, and a second dampingvalve 82 for giving resistance to the flow of the operating oil passing through thesecond passage 80. - The
first accumulator 77 has anoil chamber 77A communicating with thefirst passage 79 and apressure accumulation chamber 77B for accumulating a compressed gas for pressurizing theoil chamber 77A. When theboom 6 is rotationally moved in the roll direction, thehydraulic cylinder 71 is expanded/contracted, and the operating oil flows into/out of thefirst accumulator 77 through thefirst passage 79. - The
second accumulator 78 has anoil chamber 78A communicating with thesecond passage 80 and apressure accumulation chamber 78B for accumulating a compressed gas for pressurizing theoil chamber 78A. When theboom 6 is rotationally moved in the roll direction, thehydraulic cylinder 71 is expanded/contracted and the operating oil flows into/out of thesecond accumulator 78 through thesecond passage 80. - In contraction of the
hydraulic cylinder 71 when theboom 6 is rotationally moved in the left roll direction, the operating oil in the contracted first chamber 75 flows into thefirst accumulator 77 and the operating oil in thesecond accumulator 78 flows into the expandingsecond chamber 76. - On the contrary, in expansion of the
hydraulic cylinder 71 when theboom 6 is rotationally moved in the right roll direction, the operating oil from thefirst accumulator 77 flows into the expanding first chamber 75 and the operating oil in the contractingsecond chamber 76 flows into thesecond accumulator 78. - As described above, with rotational movement of the
boom 6 in the right roll direction and the left roll direction, the operating oil in the same volume is supplied to/discharged from thefirst accumulator 77 and thesecond accumulator 78. As a result, a pressure difference is generated between thepressure accumulation chamber 77B of thefirst accumulator 77 and thepressure accumulation chamber 78B of thesecond accumulator 78. Theboom 6 is held at a position where an urging force urged in the right roll direction by a gas pressure of thefirst accumulator 77 is balanced with the urging force urged in the left roll direction by the gas pressure of thesecond accumulator 78. - The
hydraulic cylinder 71 is a double rod type in which thepiston rod 74 protrudes from both ends of thecylinder tube 72. As a result, when thehydraulic cylinder 71 expands/contracts, a flow rate of the operating oil moving through thefirst passage 79 becomes equal to a flow rate of the operating oil moving through thesecond passage 80, and a variation of the gas pressure of thefirst accumulator 77 becomes equal to a variation of the gas pressure of thesecond accumulator 78. - The first damping
valve 81 gives resistance to the operating oil passing through thefirst passage 79 with expansion/contraction of thehydraulic cylinder 71, whereby a damping force for suppressing vibration of theboom 6 in the roll direction is generated. - The second damping
valve 82 gives resistance to the operating oil passing through thesecond passage 80 with expansion/contraction of thehydraulic cylinder 71, whereby a damping force for suppressing vibration of theboom 6 in the roll direction is generated. - That is, the first damping
valve 81 and the second dampingvalve 82 function as roll dampers for suppressing vibration of theboom 6 in the roll direction. The first dampingvalve 81 and the second dampingvalve 82 may be fixed apertures or may be variable apertures whose opening areas increase in accordance with an increase in a flow velocity of the passing operating oil. Moreover, instead of the first dampingvalve 81 and the second dampingvalve 82, a fixed aperture such as an orifice may be interposed and constituted so that its aperture channel area or aperture channel length can be manually adjusted. - The
boom damping device 7 further includes a first shut-offvalve 83 as a shut-off switch interposed in thefirst passage 79, a second shut-offvalve 84 as a shut-off switch interposed in thesecond passage 80, a right-boom sensor 85 as a right-boom detector for detecting an extended state of theright boom 61, a left-boom sensor 86 as a left-boom detector for detecting an extended state of theleft boom 62, and acontroller 87 as a control part for controlling the first shut-offvalve 83 and the second shut-offvalve 84. - The first shut-off
valve 83 is a shut-off valve capable of being switched between a communication position where thefirst passage 79 is allowed to communicate and a shut-off position where thefirst passage 79 is shut off. At the shut-off position, thefirst passage 79 is not completely closed, but only the flow of the operating oil from thefirst accumulator 77 toward the first chamber 75 is allowed. - The second shut-off
valve 84 is a shut-off valve capable of being switched between a communication position where thesecond passage 80 is allowed to communicate and a shut-off position where thesecond passage 80 is shut off. At the shut-off position, only the flow of the operating oil from thesecond accumulator 78 toward thesecond chamber 76 is allowed. - The first shut-off
valve 83 and the second shut-offvalve 84 are held at the shut-off positions by the urging forces ofsprings solenoids controller 87. - The first shut-off
valve 83 and the second shut-offvalve 84 are subjected to switching control in conjunction so that the both are switched to the same switching position. Therefore, when the first shut-offvalve 83 and the second shut-offvalve 84 are switched to the shut-off positions, the operating oil in the first chamber 75 and thesecond chamber 76 cannot flow either to thefirst accumulator 77 or thesecond accumulator 78 and thus, thefirst passage 79 is substantially shut off, and thesecond passage 80 is substantially shut off. - The right-
boom sensor 85 detects whether or not theright boom 61 has been extended to be arranged on an extension of theroll base 5 and is located at a working position extending in the right-and-left direction of the workingvehicle 1 and transmits a detection result to thecontroller 87. Even if the tip-end side frame 61B is made to slide to the base-end side frame 61A side so as to contract theright boom 61, if theright boom 61 extends in the right-and-left direction of the workingvehicle 1, it is detected that theright boom 61 is at the working position. - The left-
boom sensor 86 detects whether or not theleft boom 62 has been extended to be arranged on an extension of theroll base 5 and is located at a working position extending in the right-and-left direction of the workingvehicle 1 and transmits a detection result to thecontroller 87. Even if the tip-end side frame 62B is made to slide to the base-end side frame 62A side so as to contract theleft boom 62, if theleft boom 62 extends in the right-and-left direction of the workingvehicle 1, it is detected that theleft boom 62 is at the working position. - Here, an operation of the
left boom sensor 86 will be described by referring toFIGS. 5A and 5B . -
FIGS. 5A and 5B are enlarged views illustrating a connection spot between theroll base 5 and theleft boom 62 in an enlarged manner. - As illustrated in
FIG. 5A , on an end portion of theroll base 5, apin 63 as the aforementioned rotating shaft pivotally and rotatably supporting theleft boom 62, a roll-base side bracket 52 extending to the front from theroll base 5, a substantially L-shaped boom-side bracket 64 with one end side pivotally supported by thepin 63 together with theleft boom 62, ahydraulic cylinder 65 connected between the roll-base side bracket 52 and the boom-side bracket 64, aspring 66 connected between the other end side of the boom-side bracket 64 and theleft boom 62, and the left-boom sensor 86 extending to the front from the vicinity of thepin 63 of the roll-base 5 are provided. Expansion/contraction of thehydraulic cylinder 65 is performed in accordance with a lever operation by the operator or the like. -
FIG. 5A illustrates a state in which theleft boom 62 is folded so as to extend in a longitudinal direction along the side of the workingvehicle 1. By expanding thehydraulic cylinder 65 in this state, the boom-side bracket 64 is rotationally moved clockwise inFIG. 5A around thepin 63. With that, theleft boom 62 is pressed by the boom-side bracket 64 through thespring 66 and is rotationally moved. -
FIG. 5B illustrates a state in which theleft boom 62 is extended so as to extend in a right-and-left horizontal direction of the workingvehicle 1. When theleft boom 62 is extended to the working position by expansion of thehydraulic cylinder 65, the one end side of the boom-side bracket 64 from thepin 63 is brought into contact with the left-boom sensor 86. As a result, the left-boom sensor 86 is turned ON, and a detection signal is transmitted to thecontroller 87. - Since the
spring 66 is interposed between the boom-side bracket 64 and theleft boom 62, even if theleft boom 62 touches an obstacle during working in a state in which theleft boom 62 is completely extended, an impact can be absorbed by contraction of thespring 66. - When the
hydraulic cylinder 65 is contracted and theleft boom 62 is folded, and when the boom-side bracket 64 is separated away from the left-boom sensor 86, the left-boom sensor 86 is turned OFF, and a detection signal is transmitted to thecontroller 87. - The left-
boom sensor 86 has been described above, and since the same applies to the right-boom sensor 85, the explanation will be omitted. - Returning to
FIG. 4 , thecontroller 87 subjects the first shut-offvalve 83 and the second shut-offvalve 84 to switching control on the basis of the detection signals of the right-boom sensor 85 and the left-boom sensor 86. If at least either one of the right-boom sensor 85 and the left-boom sensor 86 is in the OFF state, thecontroller 87 switches the first shut-offvalve 83 and the second shut-offvalve 84 to the shut-off position, and only if the right-boom sensors 85 and the left-boom sensor 86 are both in the ON state, thecontroller 87 switches the first shut-offvalve 83 and the second shut-offvalve 84 to the communication position. - As a result, if at least either one of the
right boom 61 and theleft boom 62 is folded, the first shut-offvalve 83 and the second shut-offvalve 84 are switched to the shut-off position and thus, expansion/contraction of thehydraulic cylinder 71 is regulated. Thus, even if the right-and-left weight balance of theboom 6 is lost, theroll base 5 is prevented from rotating, and breakage of theboom 6 caused by rotation of theroll base 5 is prevented. - Moreover, if both the
right boom 61 and theleft boom 62 are extended, the first shut-offvalve 83 and the second shut-offvalve 84 are switched to the communication position and thus, the first dampingvalve 81 and the second dampingvalve 82 give resistance to the flow of the operating oil in thefirst passage 79 and thesecond passage 80, whereby vibration of theboom 6 in the roll direction is suppressed. - The
boom damping device 7 further includes an operating-oil supply/discharge mechanism 90 for supplying/discharging the operating oil to/from thehydraulic cylinder 71. The operating-oil supplying/dischargingmechanism 90 expands/contracts thehydraulic cylinder 71 by supplying/discharging the operating oil to/from thehydraulic cylinder 71 and adjusts a roll angle of theboom 6 so that theboom 6 is held in the horizontal direction. If the workingvehicle 1 is inclined on an inclined land or the like, the operating-oil supplying/dischargingmechanism 90 adjusts the roll angle of theboom 6 so that theboom 6 is held not horizontally but at a desired angle along the inclination. - The operating-oil supplying/discharging
mechanism 90 includes a supply/discharge passage 91 communicating with the first chamber 75 of thehydraulic cylinder 71, an operatecheck valve 92 interposed in the supply/discharge passage 91, and adirectional switching valve 94 for switching communication of ahydraulic pump 93 and a tank T with respect to the supply/discharge passage 91. - To the
directional switching valve 94, asupply passage 95 for leading the operating oil discharged from thehydraulic pump 93, adischarge passage 96 for returning the operating oil to the tank T, an operatepassage 97 communicating with a pilot pressure chamber of theoperate check valve 92, and the supply/discharge passage 91 communicating with the first chamber 75 are connected. Moreover, in arelief passage 98 connecting thesupply passage 95 and thedischarge passage 96, arelief valve 99 for opening the valve when a hydraulic pressure of thesupply passage 95 exceeds a set pressure is provided. - The
directional switching valve 94 has a left roll position A, a right roll position B, and a neutral position C and is switched to any one of the positions so that theboom 6 is held horizontally or at the desired angle along inclination of the farm field. - When the
directional switching valve 94 is switched to the left roll position A, thesupply passage 95 and the operatepassage 97 are allowed to communicate and the supply/discharge passage 91 and thedischarge passage 96 are allowed to communicate. A discharge pressure of thehydraulic pump 93 is led as a pilot pressure to the operatecheck valve 92 through the operatepassage 97 and thus, the operatecheck valve 92 is opened, and the operating oil in the first chamber 75 is returned to the tank T through the supply/discharge passage 91 and thedischarge passage 96. As a result, thepiston 73 of thehydraulic cylinder 71 is moved upward inFIG. 4 , and theboom 6 is rotationally moved in the left roll direction. - When the
directional switching valve 94 is switched to the right roll position B, thedischarge passage 96 and the operatepassage 97 are allowed to communicate, and the supply/discharge passage 91 and thesupply passage 95 are allowed to communicate. The operating oil discharged from thehydraulic pump 93 flows into the first chamber 75 through thesupply passage 95 and the supply/discharge passage 91. As a result, thepiston 73 of thehydraulic cylinder 71 is moved downward inFIG. 4 , and theboom 6 is rotationally moved in the right roll direction. - When the
directional switching valve 94 is switched to the neutral roll position C, thesupply passage 95, thedischarge passage 96, the operatepassage 97, and the supply/discharge passage 91 are allowed to communicate, respectively, and the operating oil is returned to the tank T. As a result, the operating oil flowing into/out of the first chamber 75 through the supply/discharge passage 91 is shut off, and the operatecheck valve 92 is closed. Thus, movement of thepiston 73 in thehydraulic cylinder 71 is stopped, and rotational movement of theboom 6 is stopped. - The
controller 87 drives a solenoid of thedirectional switching valve 94 so that theboom 6 is held at the desired angle on the basis of an operation instruction of the operator. As a result, theboom 6 is rotationally moved in the right and left roll directions, and the roll angle of theboom 6 is adjusted, whereby theboom 6 can be held at the desired angle at all times regardless of an attitude change of the workingvehicle 1. The operating-oil supplying/dischargingmechanism 90 is not limited to the constitution in which the operating oil is supplied/discharged with respect to the first chamber 75 of thehydraulic cylinder 71 so as to rotationally move theboom 6 in the roll direction but may be constituted such that the operating oil is supplied/discharged with respect to thesecond chamber 76 so as to rotationally move theboom 6 in the roll direction. - The working
vehicle 1 sprays the control liquid from the nozzle of theboom 6 in thespraying device 100, while running on a farm field in the work. At this time, the left andright booms pressure accumulation chambers first accumulator 77 and thesecond accumulator 78 are balanced in accordance with a stroke of thehydraulic cylinder 71. - For example, if the working
vehicle 1 runs by riding over irregularity of the farm field and if the attitude of the workingvehicle 1 is changed in the roll direction, a force to rotationally move theboom 6 in the roll direction acts on theroll base 5 through thehydraulic cylinder 71. At this time, since theboom 6 is to stay at that place by an inertia force, thehydraulic cylinder 71 is expanded/contracted by the inertia force of theboom 6 and absorbs inclination of the workingvehicle 1. - If the
hydraulic cylinder 71 cannot fully absorb the inclination of the workingvehicle 1 and if a force caused by the gas pressure difference between thepressure accumulation chambers first accumulator 77 and thesecond accumulator 78 exceeds the inertia force of theboom 6, theboom 6 begins to roll. However, the roll vibration is rapidly damped by the first dampingvalve 81 and the second dampingvalve 82. In this way, since the change in the force acting on theroll base 5 from the workingvehicle 1 is absorbed by expansion/contraction of thehydraulic cylinder 71, large rotational movement of theboom 6 in the roll direction is suppressed, and collision of the tip end portion of theboom 6 against the farm field or the like is prevented. - Moreover, with the expansion/contraction of the
hydraulic cylinder 71, the first dampingvalve 81 and the second dampingvalve 82 give resistance to the flow of the operating oil flowing into/out of thefirst accumulator 77 and thesecond accumulator 78 and thus, vibration of theboom 6 in the roll direction can be suppressed. As a result, the control liquid injected from the nozzle of theboom 6 can be uniformly sprayed. - According to the aforementioned embodiment, the following effects can be exerted.
- If at least either one of the
right boom 61 and theleft boom 62 is folded, thefirst passage 79 is shut off, and thesecond passage 80 is also shut off and thus, an expansion/contraction operation of thehydraulic cylinder 71 can be stopped. Thus, even if right and left weight balance of theboom 6 is lost, rotational movement of theboom 6 can be braked, and thus, lowering of theextended boom 6 and contact thereof with the ground can be prevented. - Moreover, if the extended state of the
right boom 61 and theleft boom 62 by the right-boom sensor 85 and the left-boom sensor 86 is detected, and if at least either one of the right-boom sensor 85 and the left-boom sensor 86 is in the OFF state, the first shut-offvalve 83 and the second shut-offvalve 84 are switched to the shut-off positions. As a result, the fact that at least either one of theright boom 61 and theleft boom 62 is not at the working position can be detected more reliably, and the rotational movement of theboom 6 can be braked. - Moreover, if the
right boom 61 is extended to the direction to be arranged on an extension of theroll base 5, the right-boom sensor 85 detects that theright boom 61 is at the working position, and if theleft boom 62 is extended to the direction to be arranged on the extension of theroll base 5, the left-boom sensor 86 detects that theleft boom 62 is at the working position. As a result, the fact that theright boom 61 and theleft boom 62 are at the working position can be detected with accuracy, respectively, and thus, unintentional rotational movement of theboom 6 in the roll direction can be prevented more reliably. - Moreover, the first shut-off
valve 83 and the second shut-offvalve 84 are shut-off valves capable of being switched between the communication position where thefirst passage 79 and thesecond passage 80 are allowed to communicate and the shut-off position where thefirst passage 79 is shut off, and thesecond passage 80 is also shut off, and thecontroller 87 subjects the first shut-offvalve 83 and the second shut-offvalve 84 to switching control on the basis of the detection signals from the right-boom sensor 85 and the left-boom sensor 86. As a result, even if the right and left weight balance of theboom 6 is lost since at least either one of theright boom 61 and theleft boom 62 is folded by the operation of the operator, the rotational movement of theboom 6 is automatically braked, and breakage of theboom 6 can be prevented. - Embodiments of the present invention were described above, but the above embodiments are merely examples of applications of the present invention, and the technical scope of the present invention is not limited to the specific constitutions of the above embodiments.
- For example, in the aforementioned embodiment, the electromagnetic
directional switching valve 94 is exemplified, but a mechanical directional switching valve whose position is switched on the basis of the lever operation of the operator may be used. - Moreover, it may be so configured that, if a switch capable of performing a turning ON/OFF operation of a roll damper is provided and if the operator performs an ON operation on the switch, the first shut-off
valve 83 and the second shut-offvalve 84 are switched to the communication positions. In this case, if the switch is subjected to the ON operation and if both the right-boom sensor 85 and the left-boom sensor 86 are in the ON state, it is only necessary that thecontroller 87 switches the first shut-offvalve 83 and the second shut-offvalve 84 to the communication positions. - Moreover, in the aforementioned embodiment, a touch sensor is exemplified as the right-
boom sensor 85 and the left-boom sensor 86, but other proximity sensor, angle sensor, stroke sensor and the like may be also used. - Moreover, in the aforementioned embodiment, the boom-
side bracket 64 has a substantially L-shape and is arranged so as to be brought into contact with the right-boom sensor 85 and the left-boom sensor 86 when theright boom 61 and theleft boom 62 are extended in the right-and-left horizontal direction of the workingvehicle 1, but by changing the shape or a bending angle of the boom-side bracket 64, a position where the boom-side bracket 64 touches the right-boom sensor 85 and the left-boom sensor 86 (to be brought into the ON state) can be changed. - This application claims priority based on Japanese Patent Application No. 2014-29482 filed with the Japan Patent Office on Feb. 19, 2014, the entire contents of which are incorporated into this specification.
Claims (5)
1. A boom damping device for suppressing vibration of a boom capable of rotational movement in a roll direction of a working vehicle, the boom having a right boom expanded in a right direction of the working vehicle and a left boom expanded in a left direction of the working vehicle, comprising:
a fluid pressure cylinder connected between the working vehicle and the boom, the fluid pressure cylinder being configured to perform an expansion/contraction operation in conjunction with rotational movement of the boom in the roll direction of the working vehicle;
a first pressure accumulator configured to pressurize one chamber of the fluid pressure cylinder and into/out of which an operating fluid flows through a first passage with the expansion/contraction operation of the fluid pressure cylinder;
a second pressure accumulator configured to pressurize the other chamber of the fluid pressure cylinder and into/out of which the operating fluid flows through a second passage with the expansion/contraction operation of the fluid pressure cylinder; and
a shut-off switch configured to shut off the first passage and configured to shut off the second passage if at least either one of the right boom and the left boom is not at a working position expanded in a right-and-left direction of the working vehicle.
2. The boom damping device according to claim 1 , further comprising:
a right-boom detector configured to detect whether or not the right boom is at the working position; and
a left-boom detector configured to detect whether or not the left boom is at the working position, wherein
the shut-off switch shuts off the first passage and shuts off the second passage if it is detected that at least either one of the right boom and the left boom is not at the working position.
3. The boom damping device according to claim 2 , wherein
the boom further has a center boom pivotally supported by the working vehicle and having both ends to which the right boom and the left boom are connected;
the right-boom detector detects that the right boom is at the working position if the right boom is expanded to a direction to be arranged on an extension of the center boom; and
the left-boom detector detects that the left boom is at the working position if the left boom is expanded to a direction to be arranged on the extension of the center boom.
4. The boom damping device according to claim 2 , wherein
the shut-off switch is a shut-off valve capable of switching between a communication position where the first passage is allowed to communicate and the second passage is allowed to communicate and a shut-off position where the first passage is shut off and the second passage is shut off; and
the boom damping device further comprises a control part configured to subject the shut-off valve to switching control between the communication position and the shut-off position on the basis of detection signals of the right-boom detector and the left-boom detector.
5. A spraying device for spraying a control liquid provided with the boom damping device according to claim 1 .
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014029482A JP6220697B2 (en) | 2014-02-19 | 2014-02-19 | Spraying device and boom damping device |
JP2014-029482 | 2014-02-19 | ||
PCT/JP2014/077756 WO2015125345A1 (en) | 2014-02-19 | 2014-10-17 | Spraying device and boom vibration control device |
Publications (1)
Publication Number | Publication Date |
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US20170164599A1 true US20170164599A1 (en) | 2017-06-15 |
Family
ID=53877874
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US15/118,109 Abandoned US20170164599A1 (en) | 2014-02-19 | 2014-10-17 | Spraying device and boom damping device |
Country Status (5)
Country | Link |
---|---|
US (1) | US20170164599A1 (en) |
JP (1) | JP6220697B2 (en) |
KR (1) | KR101834105B1 (en) |
CN (1) | CN106028805B (en) |
WO (1) | WO2015125345A1 (en) |
Cited By (5)
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WO2019105651A1 (en) * | 2017-11-28 | 2019-06-06 | Agco International Gmbh | Tractor-mounted agricultural crop sprayer |
US20190174737A1 (en) * | 2017-12-11 | 2019-06-13 | Cnh Industrial America Llc | Front-Boom Sprayer With A Boom Center Section And Lift Arm Arrangement For Improved Field Of View |
CN113243220A (en) * | 2021-05-21 | 2021-08-13 | 江苏省农业科学院 | Y-shaped shed frame pear garden fixed-distance profiling flower thinning machine and using method thereof |
US11523602B2 (en) | 2019-04-29 | 2022-12-13 | Cnh Industrial America Llc | Spray boom for an agricultural machine |
US11659827B2 (en) | 2019-07-23 | 2023-05-30 | Deere & Company | Boom roll linkage |
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JP6378956B2 (en) * | 2014-07-11 | 2018-08-22 | Kyb株式会社 | Boom vibration control device and boom sprayer |
JP7221165B2 (en) * | 2019-07-31 | 2023-02-13 | 井関農機株式会社 | Self-propelled chemical sprayer |
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JP7192729B2 (en) * | 2019-09-26 | 2022-12-20 | 井関農機株式会社 | chemical sprayer |
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JPH09163813A (en) * | 1995-12-18 | 1997-06-24 | Mitsubishi Agricult Mach Co Ltd | Device for controlling posture of spraying machine in maintenance work vehicle |
JP2001269106A (en) * | 2000-03-28 | 2001-10-02 | Iseki & Co Ltd | Apparatus for supporting spraying boom for controlling liquid |
JP2004065188A (en) * | 2002-08-09 | 2004-03-04 | Iseki & Co Ltd | Field-management machine provided with spraying boom |
JP5161041B2 (en) * | 2008-11-12 | 2013-03-13 | 株式会社やまびこ | Boom sprayer and boom swing support mechanism for boom sprayer |
CN201537566U (en) * | 2009-09-11 | 2010-08-04 | 中国农业机械化科学研究院 | Balancing vibration damping device for spray rod and spray rod spraying machine with same |
JP5763438B2 (en) * | 2011-06-21 | 2015-08-12 | カヤバ工業株式会社 | Boom sprayer and boom damping device |
JP5763439B2 (en) * | 2011-06-21 | 2015-08-12 | カヤバ工業株式会社 | Boom sprayer and boom damping device |
JP5801618B2 (en) * | 2011-06-21 | 2015-10-28 | カヤバ工業株式会社 | Boom sprayer and boom damping device |
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- 2014-02-19 JP JP2014029482A patent/JP6220697B2/en active Active
- 2014-10-17 WO PCT/JP2014/077756 patent/WO2015125345A1/en active Application Filing
- 2014-10-17 CN CN201480075714.7A patent/CN106028805B/en not_active Expired - Fee Related
- 2014-10-17 KR KR1020167021227A patent/KR101834105B1/en active IP Right Grant
- 2014-10-17 US US15/118,109 patent/US20170164599A1/en not_active Abandoned
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US5988528A (en) * | 1996-12-30 | 1999-11-23 | Case Corporation | Self-centering boom |
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WO2019105651A1 (en) * | 2017-11-28 | 2019-06-06 | Agco International Gmbh | Tractor-mounted agricultural crop sprayer |
US20190174737A1 (en) * | 2017-12-11 | 2019-06-13 | Cnh Industrial America Llc | Front-Boom Sprayer With A Boom Center Section And Lift Arm Arrangement For Improved Field Of View |
US10667507B2 (en) * | 2017-12-11 | 2020-06-02 | Cnh Industrial America Llc | Front-boom sprayer with a boom center section and lift arm arrangement for improved field of view |
US11234431B2 (en) * | 2017-12-11 | 2022-02-01 | Cnh Industrial America Llc | Front-boom sprayer with improved field of view |
US11523602B2 (en) | 2019-04-29 | 2022-12-13 | Cnh Industrial America Llc | Spray boom for an agricultural machine |
US11659827B2 (en) | 2019-07-23 | 2023-05-30 | Deere & Company | Boom roll linkage |
CN113243220A (en) * | 2021-05-21 | 2021-08-13 | 江苏省农业科学院 | Y-shaped shed frame pear garden fixed-distance profiling flower thinning machine and using method thereof |
Also Published As
Publication number | Publication date |
---|---|
JP6220697B2 (en) | 2017-10-25 |
KR101834105B1 (en) | 2018-03-02 |
KR20160106642A (en) | 2016-09-12 |
CN106028805B (en) | 2019-11-08 |
WO2015125345A1 (en) | 2015-08-27 |
CN106028805A (en) | 2016-10-12 |
JP2015149975A (en) | 2015-08-24 |
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AS | Assignment |
Owner name: KYB CORPORATION, JAPAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:ITO, TATSUO;INADA, TAKANORI;YOSHIDA, TAKANOBU;AND OTHERS;SIGNING DATES FROM 20160720 TO 20160808;REEL/FRAME:039400/0426 |
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STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |